The invention relates to a foot type robot and a motion control method of the foot type robot. The method comprises the following steps: responding to a reverse joint standing instruction, wherein the reverse joint standing instruction comprises switching from a positive joint standard standing state to a reverse joint standing state; determining a joint initial angle value of the positive joint in a standard standing state and a mechanical limiting angle value of the negative joint in a standing state; entering a positive joint standard standing state based on a whole body control algorithm; based on the joint initial angle value and the mechanical limiting angle value, determining a first discrete angle value for moving from a positive joint standard standing state to a negative joint standing state; and the first discrete angle value is converted into first joint torque based on joint proportional differential control, and a thigh motor and a shank motor are controlled to rotate based on the first joint torque, so that the foot type robot reaches reverse joint mechanical limiting in a reverse joint standing state. By adopting the method, stable switching of different states of the foot type robot can be improved.
本申请涉及一种足式机器人、足式机器人的运动控制方法。所述方法包括:响应于反关节站立指令,所述反关节站立指令包括从正关节标准站立状态切换至反关节站立状态;确定所述正关节标准站立状态的关节初始角度值、所述反关节站立状态的机械限位角度值;基于全身控制算法,进入正关节标准站立状态;基于所述关节初始角度值、所述机械限位角度值,确定从正关节标准站立状态运动至反关节站立状态的第一离散角度值;基于关节比例微分控制将所述第一离散角度值转换成第一关节转矩,基于所述第一关节转矩控制大腿电机、小腿电机转动,以使足式机器人到达反关节站立状态的反关节机械限位。采用本方法能够改善足式机器人不同状态的稳定切换。
Foot type robot and motion control method of foot type robot
足式机器人、足式机器人的运动控制方法
2024-08-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Motion control method and device for foot type robot and foot type robot
European Patent Office | 2023
|Control method and device of foot type robot and foot type robot
European Patent Office | 2022
|